A New Actuation Approach for Human Friendly Robot Design
Michael Zinna b✉, Bernard Rotha b✉, Oussama Khatibc d✉, J. Kenneth Salisburyc d✉
- aDesign Division, Department of Mechanical Engineering Stanford University Stanford, CA 94305, USA
- bDesign Division, Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- cRobotics Laboratory, Department of Computer Science Stanford University Stanford, CA 94305, USA
- dRobotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305, USA
- ✉Corresponding author
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Abstract
In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.
TL;DRBy drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, it is shown that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system. (Semantic Scholar)